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Calibration fixes
1 parent c83ec4c commit 4390839

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3 files changed

+202
-20
lines changed

3 files changed

+202
-20
lines changed

‎SystemData.json‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -1 +1 @@
1-
{"TeamNumber": 2767, "TableName": "WallEye", "ip": "10.27.67.10", "BoardDim": [7, 7], "TagSize": 0.157}
1+
{"TeamNumber": 2767, "TableName": "High", "ip": "10.27.67.12", "BoardDim": [7, 7], "TagSize": 0.157}

‎init.py‎

Lines changed: 23 additions & 19 deletions
Original file line numberDiff line numberDiff line change
@@ -78,13 +78,15 @@
7878
logger.info("Beginning calibration")
7979

8080
# Prepare a calibration object for the camera that is being calibrated with pre-set data
81-
calibrators[walleyeData.cameraInCalibration] = Calibration(
82-
walleyeData.calDelay,
83-
walleyeData.boardDims,
84-
walleyeData.cameraInCalibration,
85-
f"Calibration/Cam_{Cameras.cleanIdentifier(walleyeData.cameraInCalibration)}CalImgs",
86-
walleyeData.cameras.info[walleyeData.cameraInCalibration].resolution,
87-
)
81+
# only if cal object does not exist yet
82+
if walleyeData.cameraInCalibration not in calibrators:
83+
calibrators[walleyeData.cameraInCalibration] = Calibration(
84+
walleyeData.calDelay,
85+
walleyeData.boardDims,
86+
walleyeData.cameraInCalibration,
87+
f"Calibration/Cam_{Cameras.cleanIdentifier(walleyeData.cameraInCalibration)}CalImgs",
88+
walleyeData.cameras.info[walleyeData.cameraInCalibration].resolution,
89+
)
8890
walleyeData.currentState = States.CALIBRATION_CAPTURE
8991

9092
# Take calibration images
@@ -119,25 +121,27 @@
119121
)
120122

121123
# Generate a calibration file to the file path
122-
calibrators[walleyeData.cameraInCalibration].generateCalibration(
124+
hasGenerated = calibrators[walleyeData.cameraInCalibration].generateCalibration(
123125
walleyeData.cameras.info[
124126
walleyeData.cameraInCalibration
125127
].calibrationPath
126128
)
127129

128-
# Get reproj error
129-
walleyeData.reprojectionError = calibrators[
130-
walleyeData.cameraInCalibration
131-
].getReprojectionError()
130+
if hasGenerated:
131+
# Get reproj error
132+
walleyeData.reprojectionError = calibrators[
133+
walleyeData.cameraInCalibration
134+
].getReprojectionError()
132135

133-
# Set the cameras calibration, save off the file path, and go to idle
134-
walleyeData.cameras.setCalibration(
135-
walleyeData.cameraInCalibration,
136-
calibrators[walleyeData.cameraInCalibration].calibrationData["K"],
137-
calibrators[walleyeData.cameraInCalibration].calibrationData["dist"],
138-
)
139-
walleyeData.cameras.info[walleyeData.cameraInCalibration].calibrationPath = Calibration.calibrationPathByCam(walleyeData.cameraInCalibration, walleyeData.cameras.info[walleyeData.cameraInCalibration].resolution)
136+
# Set the cameras calibration, save off the file path, and go to idle
137+
walleyeData.cameras.setCalibration(
138+
walleyeData.cameraInCalibration,
139+
calibrators[walleyeData.cameraInCalibration].calibrationData["K"],
140+
calibrators[walleyeData.cameraInCalibration].calibrationData["dist"],
141+
)
142+
walleyeData.cameras.info[walleyeData.cameraInCalibration].calibrationPath = Calibration.calibrationPathByCam(walleyeData.cameraInCalibration, walleyeData.cameras.info[walleyeData.cameraInCalibration].resolution)
140143
walleyeData.currentState = States.IDLE
144+
calibrators[walleyeData.cameraInCalibration] = None
141145

142146
# AprilTag processing state
143147
elif walleyeData.currentState == States.PROCESSING:

‎walleye.log‎

Lines changed: 178 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,178 @@
1+
[05-Oct-23 20:08:44 - INFO - init.py:19 - <module>()] ----------- Starting Up -----------
2+
[05-Oct-23 20:08:45 - INFO - state.py:151 - setIP()] Attempting to set static IP
3+
[05-Oct-23 20:08:45 - INFO - state.py:160 - setIP()] Static IP set: 10.27.67.10
4+
[05-Oct-23 20:08:45 - INFO - NetworkClient.cpp:141 - None()] starting network client
5+
[05-Oct-23 20:08:45 - INFO - state.py:112 - makePublisher()] Robot publisher created: 2767 - WallEye
6+
[05-Oct-23 20:08:45 - INFO - camera.py:21 - __init__()] Platform is linux
7+
[05-Oct-23 20:08:45 - INFO - camera.py:38 - __init__()] Camera found: platform-fc800000.usb-usb-0:1:1.0-video-index0
8+
[05-Oct-23 20:08:45 - INFO - camera.py:66 - __init__()] Supported resolutions: [(160, 120), (320, 240), (640, 480), (800, 600), (1280, 720), (1280, 960), (1600, 1200)]
9+
[05-Oct-23 20:08:45 - INFO - camera.py:75 - __init__()] Auto exposure disabled for platform-fc800000.usb-usb-0:1:1.0-video-index0
10+
[05-Oct-23 20:08:45 - INFO - camera.py:252 - importConfig()] Attempting to import config for platform-fc800000.usb-usb-0:1:1.0-video-index0
11+
[05-Oct-23 20:08:45 - INFO - camera.py:259 - importConfig()] Config found!
12+
[05-Oct-23 20:08:45 - INFO - calibration.py:314 - parseCalibration()] Looking for calibration stored at ./Calibration/Cam_platform-fc800000-usb-usb-0-1-1-0-video-index0_(1600, 1200)CalData.json
13+
[05-Oct-23 20:08:45 - INFO - camera.py:103 - setCalibration()] Calibration set for platform-fc800000.usb-usb-0:1:1.0-video-index0, using [[880.84671198 0. 800.00690453]
14+
[ 0. 888.78616351 598.72053361]
15+
[ 0. 0. 1. ]]
16+
[[ 2.22094881e-02 -4.52088393e-02 -3.61060250e-02 -5.89176696e-02
17+
4.61055278e-01 -2.14313044e-02 6.27695258e-02 -1.05457858e-01
18+
6.34443705e-02 -1.61291367e-02 2.82513810e-02 1.07874125e-05
19+
2.87468476e-02 -1.22588256e-01]]
20+
[05-Oct-23 20:08:45 - INFO - camera.py:152 - setResolution()] Resolution set to (1600, 1200) for platform-fc800000.usb-usb-0:1:1.0-video-index0
21+
[05-Oct-23 20:08:45 - INFO - camera.py:168 - setGain()] Gain set to 0.0
22+
[05-Oct-23 20:08:45 - INFO - camera.py:192 - setExposure()] Exposure set to 54.0
23+
[05-Oct-23 20:08:46 - INFO - image_streams.py:45 - __init__()] Tag layout loaded
24+
[05-Oct-23 20:08:49 - INFO - init.py:53 - <module>()] Web server ready
25+
[05-Oct-23 20:08:49 - INFO - Processing.py:19 - __init__()] Tag layout loaded
26+
[05-Oct-23 20:08:49 - INFO - state.py:107 - makePublisher()] Existing publisher destroyed
27+
[05-Oct-23 20:08:49 - INFO - NetworkClient.cpp:141 - None()] starting network client
28+
[05-Oct-23 20:08:49 - INFO - state.py:112 - makePublisher()] Robot publisher created: 2767 - WallEye
29+
[05-Oct-23 20:08:49 - INFO - init.py:63 - <module>()] Starting main loop
30+
[05-Oct-23 20:08:52 - INFO - web_interface.py:46 - connect()] Client connected
31+
[05-Oct-23 20:09:06 - WARNING - web_interface.py:51 - disconnect()] Client disconnected
32+
[05-Oct-23 20:09:06 - INFO - web_interface.py:46 - connect()] Client connected
33+
[05-Oct-23 20:10:36 - WARNING - web_interface.py:51 - disconnect()] Client disconnected
34+
[05-Oct-23 20:10:37 - INFO - web_interface.py:46 - connect()] Client connected
35+
[05-Oct-23 20:59:23 - INFO - init.py:19 - <module>()] ----------- Starting Up -----------
36+
[05-Oct-23 20:59:26 - INFO - state.py:151 - setIP()] Attempting to set static IP
37+
[05-Oct-23 20:59:26 - INFO - state.py:160 - setIP()] Static IP set: 10.27.67.10
38+
[05-Oct-23 20:59:26 - INFO - NetworkClient.cpp:141 - None()] starting network client
39+
[05-Oct-23 20:59:26 - INFO - state.py:112 - makePublisher()] Robot publisher created: 2767 - WallEye
40+
[05-Oct-23 20:59:26 - INFO - camera.py:21 - __init__()] Platform is linux
41+
[05-Oct-23 20:59:26 - INFO - NetworkClient.cpp:427 - None()] CONNECTED NT4 to 10.27.67.2 port 5810
42+
[05-Oct-23 20:59:26 - INFO - camera.py:38 - __init__()] Camera found: platform-fc800000.usb-usb-0:1:1.0-video-index0
43+
[05-Oct-23 20:59:26 - INFO - camera.py:66 - __init__()] Supported resolutions: [(160, 120), (320, 240), (640, 480), (800, 600), (1280, 720), (1280, 960), (1600, 1200)]
44+
[05-Oct-23 20:59:26 - INFO - camera.py:75 - __init__()] Auto exposure disabled for platform-fc800000.usb-usb-0:1:1.0-video-index0
45+
[05-Oct-23 20:59:26 - INFO - camera.py:252 - importConfig()] Attempting to import config for platform-fc800000.usb-usb-0:1:1.0-video-index0
46+
[05-Oct-23 20:59:26 - INFO - camera.py:259 - importConfig()] Config found!
47+
[05-Oct-23 20:59:26 - INFO - calibration.py:314 - parseCalibration()] Looking for calibration stored at ./Calibration/Cam_platform-fc800000-usb-usb-0-1-1-0-video-index0_(1600, 1200)CalData.json
48+
[05-Oct-23 20:59:26 - INFO - camera.py:103 - setCalibration()] Calibration set for platform-fc800000.usb-usb-0:1:1.0-video-index0, using [[880.84671198 0. 800.00690453]
49+
[ 0. 888.78616351 598.72053361]
50+
[ 0. 0. 1. ]]
51+
[[ 2.22094881e-02 -4.52088393e-02 -3.61060250e-02 -5.89176696e-02
52+
4.61055278e-01 -2.14313044e-02 6.27695258e-02 -1.05457858e-01
53+
6.34443705e-02 -1.61291367e-02 2.82513810e-02 1.07874125e-05
54+
2.87468476e-02 -1.22588256e-01]]
55+
[05-Oct-23 20:59:26 - INFO - camera.py:152 - setResolution()] Resolution set to (1600, 1200) for platform-fc800000.usb-usb-0:1:1.0-video-index0
56+
[05-Oct-23 20:59:26 - INFO - camera.py:168 - setGain()] Gain set to 0.0
57+
[05-Oct-23 20:59:26 - INFO - camera.py:192 - setExposure()] Exposure set to 54.0
58+
[05-Oct-23 20:59:28 - INFO - image_streams.py:45 - __init__()] Tag layout loaded
59+
[05-Oct-23 20:59:32 - INFO - init.py:53 - <module>()] Web server ready
60+
[05-Oct-23 20:59:32 - INFO - Processing.py:19 - __init__()] Tag layout loaded
61+
[05-Oct-23 20:59:32 - INFO - state.py:107 - makePublisher()] Existing publisher destroyed
62+
[05-Oct-23 20:59:32 - INFO - NetworkClient.cpp:141 - None()] starting network client
63+
[05-Oct-23 20:59:32 - INFO - state.py:112 - makePublisher()] Robot publisher created: 2767 - WallEye
64+
[05-Oct-23 20:59:32 - INFO - init.py:63 - <module>()] Starting main loop
65+
[05-Oct-23 20:59:32 - INFO - NetworkClient.cpp:427 - None()] CONNECTED NT4 to 10.27.67.2 port 5810
66+
[05-Oct-23 20:59:24 - INFO - init.py:19 - <module>()] ----------- Starting Up -----------
67+
[05-Oct-23 20:59:26 - INFO - state.py:151 - setIP()] Attempting to set static IP
68+
[05-Oct-23 20:59:26 - INFO - state.py:160 - setIP()] Static IP set: 10.27.67.10
69+
[05-Oct-23 20:59:27 - INFO - NetworkClient.cpp:141 - None()] starting network client
70+
[05-Oct-23 20:59:27 - INFO - state.py:112 - makePublisher()] Robot publisher created: 2767 - WallEye
71+
[05-Oct-23 20:59:27 - INFO - camera.py:21 - __init__()] Platform is linux
72+
[05-Oct-23 20:59:27 - ERROR - camera.py:28 - __init__()] No cameras detected!!
73+
[05-Oct-23 20:59:29 - INFO - init.py:53 - <module>()] Web server ready
74+
[05-Oct-23 20:59:29 - INFO - Processing.py:19 - __init__()] Tag layout loaded
75+
[05-Oct-23 20:59:29 - INFO - state.py:107 - makePublisher()] Existing publisher destroyed
76+
[05-Oct-23 20:59:29 - INFO - NetworkClient.cpp:141 - None()] starting network client
77+
[05-Oct-23 20:59:29 - INFO - state.py:112 - makePublisher()] Robot publisher created: 2767 - WallEye
78+
[05-Oct-23 20:59:29 - INFO - init.py:63 - <module>()] Starting main loop
79+
[05-Oct-23 21:00:35 - INFO - web_interface.py:46 - connect()] Client connected
80+
[05-Oct-23 21:00:49 - INFO - state.py:107 - makePublisher()] Existing publisher destroyed
81+
[05-Oct-23 21:00:49 - INFO - NetworkClient.cpp:141 - None()] starting network client
82+
[05-Oct-23 21:00:49 - INFO - state.py:112 - makePublisher()] Robot publisher created: 2767 - High
83+
[05-Oct-23 21:00:50 - INFO - state.py:151 - setIP()] Attempting to set static IP
84+
[05-Oct-23 21:00:50 - INFO - state.py:160 - setIP()] Static IP set: 10.27.67.12
85+
[05-Oct-23 21:00:50 - INFO - state.py:107 - makePublisher()] Existing publisher destroyed
86+
[05-Oct-23 21:00:50 - INFO - state.py:112 - makePublisher()] Robot publisher created: 2767 - High
87+
[05-Oct-23 21:00:50 - INFO - NetworkClient.cpp:141 - None()] starting network client
88+
[05-Oct-23 21:01:17 - INFO - init.py:19 - <module>()] ----------- Starting Up -----------
89+
[05-Oct-23 21:01:19 - INFO - state.py:151 - setIP()] Attempting to set static IP
90+
[05-Oct-23 21:01:19 - INFO - state.py:160 - setIP()] Static IP set: 10.27.67.12
91+
[05-Oct-23 21:01:19 - INFO - NetworkClient.cpp:141 - None()] starting network client
92+
[05-Oct-23 21:01:19 - INFO - state.py:112 - makePublisher()] Robot publisher created: 2767 - High
93+
[05-Oct-23 21:01:19 - INFO - camera.py:21 - __init__()] Platform is linux
94+
[05-Oct-23 21:01:19 - ERROR - camera.py:28 - __init__()] No cameras detected!!
95+
[05-Oct-23 21:01:22 - INFO - init.py:53 - <module>()] Web server ready
96+
[05-Oct-23 21:01:22 - INFO - Processing.py:19 - __init__()] Tag layout loaded
97+
[05-Oct-23 21:01:22 - INFO - state.py:107 - makePublisher()] Existing publisher destroyed
98+
[05-Oct-23 21:01:22 - INFO - state.py:112 - makePublisher()] Robot publisher created: 2767 - High
99+
[05-Oct-23 21:01:22 - INFO - NetworkClient.cpp:141 - None()] starting network client
100+
[05-Oct-23 21:01:22 - INFO - init.py:63 - <module>()] Starting main loop
101+
[05-Oct-23 21:02:11 - INFO - web_interface.py:46 - connect()] Client connected
102+
[05-Oct-23 21:02:48 - INFO - init.py:19 - <module>()] ----------- Starting Up -----------
103+
[05-Oct-23 21:02:51 - INFO - state.py:151 - setIP()] Attempting to set static IP
104+
[05-Oct-23 21:02:51 - INFO - state.py:160 - setIP()] Static IP set: 10.27.67.12
105+
[05-Oct-23 21:02:51 - INFO - NetworkClient.cpp:141 - None()] starting network client
106+
[05-Oct-23 21:02:51 - INFO - state.py:112 - makePublisher()] Robot publisher created: 2767 - High
107+
[05-Oct-23 21:02:51 - INFO - camera.py:21 - __init__()] Platform is linux
108+
[05-Oct-23 21:02:51 - INFO - NetworkClient.cpp:427 - None()] CONNECTED NT4 to 10.27.67.2 port 5810
109+
[05-Oct-23 21:02:52 - INFO - camera.py:38 - __init__()] Camera found: platform-fc800000.usb-usb-0:1:1.0-video-index0
110+
[05-Oct-23 21:02:52 - INFO - camera.py:66 - __init__()] Supported resolutions: [(160, 120), (320, 240), (640, 480), (800, 600), (1280, 720), (1280, 960), (1600, 1200)]
111+
[05-Oct-23 21:02:52 - INFO - camera.py:75 - __init__()] Auto exposure disabled for platform-fc800000.usb-usb-0:1:1.0-video-index0
112+
[05-Oct-23 21:02:52 - INFO - camera.py:252 - importConfig()] Attempting to import config for platform-fc800000.usb-usb-0:1:1.0-video-index0
113+
[05-Oct-23 21:02:52 - INFO - camera.py:259 - importConfig()] Config found!
114+
[05-Oct-23 21:02:52 - INFO - calibration.py:314 - parseCalibration()] Looking for calibration stored at ./Calibration/Cam_platform-fc800000-usb-usb-0-1-1-0-video-index0_(1600, 1200)CalData.json
115+
[05-Oct-23 21:02:52 - INFO - camera.py:103 - setCalibration()] Calibration set for platform-fc800000.usb-usb-0:1:1.0-video-index0, using [[880.84671198 0. 800.00690453]
116+
[ 0. 888.78616351 598.72053361]
117+
[ 0. 0. 1. ]]
118+
[[ 2.22094881e-02 -4.52088393e-02 -3.61060250e-02 -5.89176696e-02
119+
4.61055278e-01 -2.14313044e-02 6.27695258e-02 -1.05457858e-01
120+
6.34443705e-02 -1.61291367e-02 2.82513810e-02 1.07874125e-05
121+
2.87468476e-02 -1.22588256e-01]]
122+
[05-Oct-23 21:02:52 - INFO - camera.py:152 - setResolution()] Resolution set to (1600, 1200) for platform-fc800000.usb-usb-0:1:1.0-video-index0
123+
[05-Oct-23 21:02:52 - INFO - camera.py:168 - setGain()] Gain set to 0.0
124+
[05-Oct-23 21:02:52 - INFO - camera.py:192 - setExposure()] Exposure set to 54.0
125+
[05-Oct-23 21:02:54 - INFO - image_streams.py:45 - __init__()] Tag layout loaded
126+
[05-Oct-23 21:02:58 - INFO - init.py:53 - <module>()] Web server ready
127+
[05-Oct-23 21:02:58 - INFO - Processing.py:19 - __init__()] Tag layout loaded
128+
[05-Oct-23 21:02:58 - INFO - state.py:107 - makePublisher()] Existing publisher destroyed
129+
[05-Oct-23 21:02:58 - INFO - NetworkClient.cpp:141 - None()] starting network client
130+
[05-Oct-23 21:02:58 - INFO - state.py:112 - makePublisher()] Robot publisher created: 2767 - High
131+
[05-Oct-23 21:02:58 - INFO - init.py:63 - <module>()] Starting main loop
132+
[05-Oct-23 21:02:58 - INFO - NetworkClient.cpp:427 - None()] CONNECTED NT4 to 10.27.67.2 port 5810
133+
[05-Oct-23 21:03:45 - INFO - web_interface.py:46 - connect()] Client connected
134+
[05-Oct-23 21:07:51 - INFO - NetworkClient.cpp:460 - None()] DISCONNECTED NT4 connection: stream error: ECONNRESET
135+
[05-Oct-23 21:07:54 - INFO - NetworkClient.cpp:427 - None()] CONNECTED NT4 to 10.27.67.2 port 5810
136+
[05-Oct-23 21:12:20 - INFO - NetworkClient.cpp:460 - None()] DISCONNECTED NT4 connection: stream error: ECONNRESET
137+
[05-Oct-23 21:12:33 - INFO - NetworkClient.cpp:427 - None()] CONNECTED NT4 to 10.27.67.2 port 5810
138+
[05-Oct-23 21:02:48 - INFO - init.py:19 - <module>()] ----------- Starting Up -----------
139+
[05-Oct-23 21:02:50 - INFO - state.py:151 - setIP()] Attempting to set static IP
140+
[05-Oct-23 21:02:50 - INFO - state.py:160 - setIP()] Static IP set: 10.27.67.12
141+
[05-Oct-23 21:02:50 - INFO - NetworkClient.cpp:141 - None()] starting network client
142+
[05-Oct-23 21:02:50 - INFO - state.py:112 - makePublisher()] Robot publisher created: 2767 - High
143+
[05-Oct-23 21:02:50 - INFO - camera.py:21 - __init__()] Platform is linux
144+
[05-Oct-23 21:02:50 - ERROR - camera.py:28 - __init__()] No cameras detected!!
145+
[05-Oct-23 21:02:53 - INFO - init.py:53 - <module>()] Web server ready
146+
[05-Oct-23 21:02:53 - INFO - Processing.py:19 - __init__()] Tag layout loaded
147+
[05-Oct-23 21:02:53 - INFO - state.py:107 - makePublisher()] Existing publisher destroyed
148+
[05-Oct-23 21:02:53 - INFO - NetworkClient.cpp:141 - None()] starting network client
149+
[05-Oct-23 21:02:53 - INFO - state.py:112 - makePublisher()] Robot publisher created: 2767 - High
150+
[05-Oct-23 21:02:53 - INFO - init.py:63 - <module>()] Starting main loop
151+
[05-Oct-23 21:02:48 - INFO - init.py:19 - <module>()] ----------- Starting Up -----------
152+
[05-Oct-23 21:02:50 - INFO - state.py:151 - setIP()] Attempting to set static IP
153+
[05-Oct-23 21:02:50 - INFO - state.py:160 - setIP()] Static IP set: 10.27.67.12
154+
[05-Oct-23 21:02:50 - INFO - NetworkClient.cpp:141 - None()] starting network client
155+
[05-Oct-23 21:02:50 - INFO - state.py:112 - makePublisher()] Robot publisher created: 2767 - High
156+
[05-Oct-23 21:02:50 - INFO - camera.py:21 - __init__()] Platform is linux
157+
[05-Oct-23 21:02:50 - ERROR - camera.py:28 - __init__()] No cameras detected!!
158+
[05-Oct-23 21:02:52 - INFO - init.py:53 - <module>()] Web server ready
159+
[05-Oct-23 21:02:52 - INFO - Processing.py:19 - __init__()] Tag layout loaded
160+
[05-Oct-23 21:02:52 - INFO - state.py:107 - makePublisher()] Existing publisher destroyed
161+
[05-Oct-23 21:02:52 - INFO - NetworkClient.cpp:141 - None()] starting network client
162+
[05-Oct-23 21:02:52 - INFO - state.py:112 - makePublisher()] Robot publisher created: 2767 - High
163+
[05-Oct-23 21:02:52 - INFO - init.py:63 - <module>()] Starting main loop
164+
[05-Oct-23 21:03:03 - INFO - init.py:19 - <module>()] ----------- Starting Up -----------
165+
[05-Oct-23 21:03:06 - INFO - state.py:151 - setIP()] Attempting to set static IP
166+
[05-Oct-23 21:03:06 - INFO - state.py:160 - setIP()] Static IP set: 10.27.67.12
167+
[05-Oct-23 21:03:06 - INFO - NetworkClient.cpp:141 - None()] starting network client
168+
[05-Oct-23 21:03:06 - INFO - state.py:112 - makePublisher()] Robot publisher created: 2767 - High
169+
[05-Oct-23 21:03:06 - INFO - camera.py:21 - __init__()] Platform is linux
170+
[05-Oct-23 21:03:06 - ERROR - camera.py:28 - __init__()] No cameras detected!!
171+
[05-Oct-23 21:03:09 - INFO - init.py:53 - <module>()] Web server ready
172+
[05-Oct-23 21:03:09 - INFO - Processing.py:19 - __init__()] Tag layout loaded
173+
[05-Oct-23 21:03:09 - INFO - state.py:107 - makePublisher()] Existing publisher destroyed
174+
[05-Oct-23 21:03:09 - INFO - state.py:112 - makePublisher()] Robot publisher created: 2767 - High
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[05-Oct-23 21:03:09 - INFO - init.py:63 - <module>()] Starting main loop
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[05-Oct-23 21:03:09 - INFO - NetworkClient.cpp:141 - None()] starting network client
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[05-Oct-23 21:03:53 - INFO - web_interface.py:46 - connect()] Client connected
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[05-Oct-23 21:04:00 - WARNING - web_interface.py:51 - disconnect()] Client disconnected

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